/*
 * @Description: 奥比中336L相机接口
 * @Author: BiChunkai 321521004@qq.com
 * @Date: 2025-06-03 12:20:47
 * @FilePath: /wsMyROS2_TEST/orbDemo/orbInterface/orb336LCamera.h
 * 
 * Copyright (c) 2025 by 无锡捷普迅科技有限公司, All Rights Reserved. 
 */
#pragma once

#include "libobsensor/hpp/Pipeline.hpp"
#include "libobsensor/hpp/Error.hpp"
#include <mutex>
#include <iostream>
#include <opencv2/opencv.hpp>
#include "window.hpp"

class orb336LCamera
{
public:
    orb336LCamera();
    ~orb336LCamera();
    bool getColorFrame(cv::Mat& rgbImage);
    bool getDepthFrame(cv::Mat& rgbImage, cv::Mat& depthImage);
        void stopCamera();
private:
    ob::Pipeline pipe;  // 数据管道
    std::shared_ptr<ob::Config> config;  // 配置对象
    ob::Align align;  // 对齐对象

    void init();
    void startCamera();

};

